EP3244276B1 - Vorrichtung zur kollisionserkennung einer werkzeugmaschine mit kollisionsspannungslösungsvorrichtung - Google Patents

Vorrichtung zur kollisionserkennung einer werkzeugmaschine mit kollisionsspannungslösungsvorrichtung Download PDF

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Publication number
EP3244276B1
EP3244276B1 EP17170124.6A EP17170124A EP3244276B1 EP 3244276 B1 EP3244276 B1 EP 3244276B1 EP 17170124 A EP17170124 A EP 17170124A EP 3244276 B1 EP3244276 B1 EP 3244276B1
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EP
European Patent Office
Prior art keywords
load
collision
return amount
feed motor
movement unit
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Active
Application number
EP17170124.6A
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English (en)
French (fr)
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EP3244276A2 (de
EP3244276A3 (de
Inventor
Masahiko Kakumoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nakamura Tome Precision Industry Co Ltd
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Nakamura Tome Precision Industry Co Ltd
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Publication of EP3244276A3 publication Critical patent/EP3244276A3/de
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4065—Monitoring tool breakage, life or condition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B23Q17/2208—Detection or prevention of collisions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P7/00—Emergency devices preventing damage to a machine or apparatus
    • F16P7/02—Emergency devices preventing damage to a machine or apparatus by causing the machine to stop on the occurrence of dangerous conditions therein
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37237—Tool collision, interference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37616—Use same monitoring tools to monitor tool and workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque

Definitions

  • the present invention relates to a collision detecting apparatus provided in a machine tool, and particularly, to a collision detecting apparatus equipped with a collision stress releasing device.
  • the collision stress releasing device is a device which releases a stress remaining in a movement unit or the other member after a machine is emergently stopped due to a collision between the movement unit (a movement headstock or a tool post of a machine tool body, an arm or a hand of a work loader or unloader, or the like) and the other member.
  • a movement unit is driven by a feed motor controlled by a NC machine.
  • the NC machine controls a position and a speed of the movement unit and prevents an excessive load from being applied to the movement unit by restricting a torque of a feed motor if necessary.
  • a multi-axis control is performed in accordance with a recent development of a control technology.
  • an unmanned processing operation for a long period of time is also generally performed by an integral control of a machine tool and a conveying device such as a work load or unloader.
  • a tool post 4a of a lathe illustrated in Fig. 6 moves in the X and Z directions by the rotation of an X-axis feed motor 5x and a Z-axis feed motor 5z and a work w gripped by a spindle chuck 7 is processed by a tool 6 attached to the tool post.
  • the tool post 4a moves at a low speed during a processing operation in response to a speed instruction e from the NC machine to the X-axis motor 5x and the Z-axis motor 5z and moves at a high speed when moving to the next position after the processing operation on one block ends.
  • a work loader illustrated in Fig. 7 loads a material work w gripped by a work hand 4b of a tip of an arm 8 into the spindle chuck 7 of the lathe.
  • the work hand 4b moves at a high speed u from a standby position indicated by an imaginary line in Fig. 7 to a position near the spindle chuck 7 and moves at a low speed v in the Z direction to insert the material work w into the spindle chuck 7.
  • a Z-direction emergency stop device of Fig. 6 will be described.
  • a current meter 18 is provided in a power supply circuit of a Z-axis feed motor 5z.
  • a current of the motor 5z increases due to an overload generated by the collision.
  • an emergency stop signal a is output from a comparator 31 so that the feed motor 5z is emergently stopped.
  • the same emergency stop device is also provided in the X-axis feed motor 5x.
  • the collision detecting apparatus which electrically detects the overload can easily change a setting value and the machine can be easily recovered to a normal state after the emergency stop. Further, when the feed motor 5 is slightly rotated reversely after the emergency stop, a stress generated in the movement unit or the colliding member due to the collision is released and thus damage to the machine or the work can be reduced.
  • Patent Document 1 the present applicant proposes a method in which a plurality of collision detection setting loads are set in a load setter 35, a high setting load is automatically selected when a low-speed movement instruction is given from the NC machine to the movement unit, and a low setting load is automatically selected when a high-speed movement instruction is given. Further, a method of gradually or continuously changing a low setting load in response to an instructed movement speed e is also proposed. Accordingly, it is possible to reduce damage of the work or the machine when the movement unit collides with the work or the other member of the machine. In particular, it is possible to reduce damage in the event of a collision when the movement unit moves at a high speed.
  • Document JP H11 165240 A further describes a feed shaft control device with an overload monitoring means provided with an actual load calculation means which calculates actual load that a feed shaft receives and an overload detection means which detects an overload of the feed shaft when the actual load exceeds the value set in advance and memorizes a position of the feed shaft when an overload is detected as a collision detection position between collided objects.
  • Patent Document 1 JP 3529010 B1
  • a time delay occurs. Due to the time delay, a collision stress (a stress corresponding to a movement distance of the movement unit until the stop of the movement unit after the contact of both members) remains in both colliding members. The collision stress gets increases when the speed of the movement unit becomes faster. In particular, when a collision occurs during an unmanned continuous operation, a collision stress is continuously applied to both colliding members and thus concern of damage to the machine increases.
  • the feed motor is slightly rotated reversely after the collision to release the collision stress.
  • the collision stress is released by reversely rotating the feed motor by the set return amount from the stop position of the movement unit.
  • the return amount necessary to release the collision stress due to the rigidity of the colliding member or the collision speed is not constant, the collision stress can be released in the event of a collision at any condition when a sufficient return amount is set.
  • the invention has been made to solve the above-described problems accompanied by a return movement of a movement unit for releasing a collision stress generated by a collision and an object of the invention is to more appropriately control a reverse rotation amount of a feed motor for releasing a collision stress.
  • the invention solves the above-described problems by a collision detecting apparatus which emergently stops a machine by detecting an abnormal load acting on a movement unit 4 such as a tool post 4a or a work hand 4b of a loader during an operation of a NC machine tool. That is, a return position of the movement unit 4 is obtained based on a collision detection position or a contact position after a collision is detected. When the movement unit 4 is returned to the return position after the collision is detected, it is possible to prevent damage (stress) to the machine due to a remaining stress (a collision stress) generated by the collision.
  • the collision detecting apparatus of the invention is a machine tool collision detecting apparatus including an emergency stop device 34 which emergently stops a feed motor 5 by outputting a collision detection signal d when an operating load b of a feed motor 5 driving a movement unit 4 (4a, 4b) reaches a collision detection setting load c set by a load setter 35 and a collision stress releasing device 2 which reversely rotates the feed motor by a return amount set in a return amount setter 22 (22a, 22b, 22c) after the feed motor 5 is emergently stopped, in which the collision stress releasing device 2 reversely rotates the feed motor 5 by the return amount set by the return amount setter 22 based on a contact position of the movement unit 4 or a collision detection position regarded as a contact position.
  • the collision detecting apparatus further comprises a normal load memory which sequentially updates the operating load in a predetermined period during the movement of the movement unit, an intermediate load calculator which sequentially calculates an intermediate load corresponding to a load between the stored normal load and the setting load by a calculation, a contact position calculator, and an auxiliary comparator which compares the operating load and the intermediate load with each other and outputs an intermediate load signal when the operating load reaches the intermediate load, wherein the contact position calculator calculates the contact position based on the setting load, the position of the movement unit when the setting load is detected, the intermediate load immediately before the collision detection signal is given, the position of the movement unit when the intermediate load is detected, and a value stored in the normal load memory when the collision detection signal is given.
  • a control of setting a plurality of return amounts in a return amount setter 22b and automatically setting the return amount in response to the movement speed range of the movement unit 4 or a control of providing a return amount setter 22c calculating the return amount by using the movement speed as a variable and automatically calculating the return amount in response to the movement speed can be exemplified.
  • Reference Numeral 1 denotes an NC machine which controls the operation of a movement unit 4 (4a, 4b) and Reference Numeral 2 (2a, 2b, 2c, 2d) denotes a collision stress releasing device which is added to a collision detecting apparatus 3 described in Patent Document 1.
  • a load detection current meter 18 is provided in a power supply circuit of a feed motor 5 which drives the movement unit 4.
  • a load detector 32 detects an output torque of the feed motor 5 and an inertia load corrector 33 detects an output torque obtained by correcting the inertia load of the movement unit 4 (4a, 4b).
  • an inertia load corrector 33 detects an output torque obtained by correcting the inertia load of the movement unit 4 (4a, 4b).
  • a setter which sets a collision detection overload a high level setter 35a and a low level setter 35b are provided.
  • a level selector 37 selects a load set in a high level setter 35a and gives the load to a comparator 31 when a low-speed movement instruction is given from the NC machine 1 to the feed motor 5 and selects a load set by a low level setter 35b and outputs the load to the comparator 31 when a low-speed movement instruction is given from the NC machine 1 to the feed motor 5.
  • the comparator 31 compares an operating load (hereinafter, referred to as a "detection load”) b detected by the inertia load corrector 33 with a setting load c set by the level selector 37.
  • a collision detection signal d is given to an emergency stop device 34 and the emergency stop device 34 which receives the signal emergently stops the feed motor 5.
  • a lower level setting value can be selected by the level selector 37 as an instruction value of a speed instruction e from the NC machine 1 becomes faster and the value can be used as the collision detection setting load c.
  • the setting load c can be calculated in response to the instruction value of the speed instruction e from the NC machine 1.
  • a collision stress releasing device 2a of the first embodiment indicated by an imaginary line of Fig. 1 includes a detection position memory 21, a return amount setter 22a, and a return position calculator 23.
  • the detection position memory 21 receives the collision detection signal d from the comparator 31, the detection position memory stores a position of the movement unit 4 or a phase of the feed motor 5 at that time.
  • a return amount of the movement unit 4 or a reverse rotation amount of the feed motor 5 based on the position of the movement unit (the collision detection position) when the collision detection signal d is given to the memory is set to the return amount setter 22a.
  • the return position calculator 23 calculates a position in which the movement unit 4 is returned by the return amount set in the return amount setter 22a from the collision detection position stored in the detection position memory 21 (a return position) and transmits a return position signal f to the NC machine 1. After the NC machine 1 receives a stop signal of the feed motor 5, the NC machine moves the movement unit 4 to the return position to release a load generated by the collision.
  • the detection load b When a collision is a collision between members having high rigidity as in the collision between the tool post and the work, the detection load b immediately reaches the setting load c immediately after the collision. For this reason, the return position can be calculated by regarding the collision detection position as the contact position. So, there is no need to worry about a case where the machine stops while the colliding members contact each other due to an insufficient return amount or the movement unit collides with the opposite member during a return operation due to an excessive return amount.
  • Fig. 2 is an example of the collision stress releasing device in which a plurality of return amounts are set for each of the movement speed ranges of the movement unit before the collision.
  • a return amount setter 22b capable of setting a plurality of return amounts and a return amount selector 24 are provided.
  • a return amount for each of predetermined speed ranges of the movement instruction given from the NC machine 1 to the feed motor 5 of the movement unit is set in the return amount setter 22b.
  • the return amount selector 24 receives the speed instruction e from the NC machine 1, selects a speed rage setting amount including the speed instruction, and gives the speed range setting amount to the return position calculator 23. Accordingly, the return position calculator 23 can calculate a return position corresponding to the speed range of the movement unit in the event of a collision.
  • a second embodiment of Fig. 2 is an example in which a return amount is changed step by step in response to the speed of the movement unit.
  • a third embodiment illustrated in Fig. 3 is an example in which a return amount is continuously changed in response to the speed of the movement unit.
  • an arithmetic expression which calculates a return amount by using a constant and the speed instruction e given from the NC machine 1 to the feed motor 5 is registered in the return amount setter 22c.
  • the return position calculator 23 obtains the return position of the movement unit 4 based on the return amount calculated by the arithmetic expression.
  • a fourth embodiment illustrated in Fig. 4 is an example in which an intersection point p between a rise line s and a normal load t of the feed motor 5 before a collision is set as a contact position and the return position of the movement unit 4 is obtained based on the contact position on the assumption that the load of the feed motor 5 linearly rises to the collision detection setting load c as shown in Fig. 5 .
  • a collision stress releasing device 2d of the fourth embodiment includes a normal load memory 25, an intermediate load calculator 26, an auxiliary comparator 27, an intermediate position memory 28, and a contact position calculator 29 in addition to the detection position memory 21, the return amount setter 22a, and the return position calculator 23 described in the first embodiment.
  • the normal load memory 25 sequentially updates a load by inputting the detection load b given from the inertia load corrector 33 at all times and calculating an average value of the most recent normal load in a predetermined range.
  • the intermediate load calculator 26 stores an intermediate load between the load set by the load setter 35 and the most recent load calculated by the normal load memory 25 by a calculation whenever the calculation value of the normal load memory 25 is sequentially updated.
  • the auxiliary comparator 27 outputs an intermediate load detection signal g and the intermediate position memory 28 stores a position of the movement unit (a position o of Fig. 5 ) at that time.
  • the contact position calculator 29 calculates a contact position n ( Fig. 5 ) based on the collision detection position and the intermediate position and gives the contact position to the return position calculator 23.
  • the return position calculator 23 calculates a position in which the movement unit 4 is returned from the contact position n by the return amount set in the return amount setter 22a and gives the return position signal f to the NC machine 1. After the NC machine receives the stop signal of the feed motor 5, the movement unit moves to the return position.
  • the invention it is possible to set a necessary minimum return amount by eliminating an error or a variation in traveling until the stop of the movement unit after a collision is detected.
  • a collision stress acts on both colliding members when the set return amount is smaller than the necessary return amount or the movement unit collides with the opposite member during a return operation when the set return amount is larger than the necessary return amount.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Numerical Control (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Automatic Control Of Machine Tools (AREA)

Claims (4)

  1. Gerät zum Detektieren einer Werkzeugmaschinenkollision, umfassend:
    eine Nothaltvorrichtung (34), die den Nothalt eines Vorschubmotors (5) bewirkt, indem sie ein Kollisionsdetektionssignal (d) ausgibt, wenn eine Betriebslast (b) eines Vorschubmotors (5), der eine Bewegungseinheit (4) antreibt, einen Laststellwert (c) zur Detektion einer Kollision erreicht, wie er von einem Stellorgan eingestellt wurde; und
    eine Vorrichtung (2) zum Aufheben der Kollisionsbelastung, die den Vorschubmotor (5), nach dem Nothalt des Vorschubmotors (5), lediglich um ein Ausmaß des Rücklaufs zurückdreht, wie es von einem Organ (22; 22a; 22b; 22c) zum Einstellen des Rücklaufausmaßes eingestellt wurde,
    wobei die Vorrichtung (2) zum Aufheben der Kollisionsbelastung den Vorschubmotor (5) lediglich um ein Ausmaß des Rücklaufs zurückdreht, wie es von dem Organ (22; 22a; 22b; 22c) zum Einstellen des Rücklaufausmaßes auf Grundlage einer Kontaktposition eines Glieds, das mit der Bewegungseinheit (4) kollidiert, eingestellt wurde,
    wobei das Gerät zum Detektieren einer Werkzeugmaschinenkollision Folgendes umfasst:
    einen Speicher (25) für die normale Last, der die Betriebslast (b) in einem vorbestimmten Zeitraum während der Bewegung der Bewegungseinheit (4) sequentiell aktualisiert;
    einen Zwischenlastrechner (26), der eine Zwischenlast, die einer Last zwischen der gespeicherten normalen Last und dem Laststellwert (c) entspricht, durch einen Rechenvorgang sequentiell berechnet;
    ein Organ (29) zum Berechnen der Kontaktposition und
    ein unterstützendes Vergleichsorgan (27), das die Betriebslast (b) und die Zwischenlast miteinander vergleicht und ein Zwischenlastsignal ausgibt, wenn die Betriebslast (b) die Zwischenlast erreicht,
    wobei das Organ (29) zum Berechnen der Kontaktposition (29) die Kontaktposition auf Grundlage des Laststellwerts (c), der Position der Bewegungseinheit (4) zum Zeitpunkt der Detektion des Laststellwerts (c), der Zwischenlast unmittelbar vor der Angabe des Kollisionsdetektionssignals (d), der Position der Bewegungseinheit (4) zum Zeitpunkt der Detektion der Zwischenlast, und eines Wertes berechnet, wie er zum Zeitpunkt der Angabe des Kollisionsdetektionssignals im Speicher (25) für die normale Last gespeichert ist.
  2. Gerät zum Detektieren einer Werkzeugmaschinenkollision nach Anspruch 1,
    wobei die Vorrichtung (2) zum Aufheben der Kollisionsbelastung den Vorschubmotor (5) zurückdreht, indem sie eine Position, wie sie die Bewegungseinheit (4) einnimmt, wenn die Betriebslast (b) den Laststellwert (c) erreicht, als die Kontaktposition erachtet.
  3. Gerät zum Detektieren einer Werkzeugmaschinenkollision nach Anspruch 1 oder 2, des Weiteren umfassend:
    das Organ (22; 22a; 22b; 22c) zum Einstellen des Rücklaufausmaßes, wobei dieses dazu befähigt ist, mehrere Werte des Rücklaufausmaßes einzustellen; und
    ein Organ zum Auswählen eines Rücklaufausmaßes,
    wobei das Organ zum Auswählen eines Rücklaufausmaßes ein geringes Rücklaufausmaß auswählt, wenn der Vorschubmotor (5) eine Anweisung zur Bewegung mit niedriger Geschwindigkeit erhält, und es ein hohes Rücklaufausmaß auswählt, wenn der Vorschubmotor (5) eine Anweisung zur Bewegung mit hoher Geschwindigkeit erhält, und
    wobei die Vorrichtung (2) zum Aufheben der Kollisionsbelastung den Vorschubmotor (5) lediglich in dem ausgewählten Rücklaufausmaß zurückdreht.
  4. Gerät zum Detektieren einer Werkzeugmaschinenkollision nach Anspruch 1 oder 2,
    wobei das Organ (22; 22a; 22b; 22c) zum Einstellen des Rücklaufausmaßes ein Organ zum Einstellen einer Konstante und ein Organ (22; 22a; 22b; 22c) zum Einstellen eines Rücklaufausmaßes umfasst, wobei letzteres ein Rücklaufausmaß entsprechend einem Einstellwert, wie er von dem Organ zum Einstellen einer Konstante festgelegt wurde, und einem Anweisungswert einer Geschwindigkeitsanweisung berechnet, wie sie der Vorschubmotor (5) von einer NC-Maschine erhalten hat, und
    wobei das Organ (22; 22a; 22b; 22c) zum Einstellen des Rücklaufausmaßes ein Rücklaufausmaß berechnet, das umso höher ist, je höher der Wert der Geschwindigkeitsanweisung ist.
EP17170124.6A 2016-05-09 2017-05-09 Vorrichtung zur kollisionserkennung einer werkzeugmaschine mit kollisionsspannungslösungsvorrichtung Active EP3244276B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016094034A JP6814458B2 (ja) 2016-05-09 2016-05-09 当接解除装置を備えた工作機械の衝突検出装置

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EP3244276A2 EP3244276A2 (de) 2017-11-15
EP3244276A3 EP3244276A3 (de) 2018-01-24
EP3244276B1 true EP3244276B1 (de) 2019-09-25

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EP3579066A1 (de) * 2018-06-06 2019-12-11 Agie Charmilles SA Kollisionsschutzverfahren
JP6748153B2 (ja) * 2018-07-10 2020-08-26 ファナック株式会社 工作機械の異常検出装置
JP7156897B2 (ja) * 2018-10-10 2022-10-19 シチズン時計株式会社 工作機械
CN111958323B (zh) * 2020-07-31 2021-05-28 沈阳马卡智工科技有限公司 一种基于工件装夹的刀具路线规划及自动避让控制系统
CN115106857B (zh) * 2022-06-29 2023-06-13 济南凯特尔机器有限公司 一种高灵敏数控外圆磨床的防工件倒转装置

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JP3529010B2 (ja) * 1996-11-11 2004-05-24 中村留精密工業株式会社 可動ユニットの衝突検出装置
JPH11165240A (ja) * 1997-12-03 1999-06-22 Makino Milling Mach Co Ltd 数値制御における送り軸制御方法および装置
EP1815949A1 (de) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medizinisches Robotersystem mit einem Manipulatorarm mit zylindrischer Kinematik
JP5865877B2 (ja) * 2013-08-23 2016-02-17 富士重工業株式会社 衝突検知装置及び衝突検知方法
JP5815780B2 (ja) * 2014-03-19 2015-11-17 ファナック株式会社 異常負荷発生時加工面を保護できるモータ制御装置
CN206010625U (zh) * 2016-08-07 2017-03-15 张民胜 一种带有碰撞检测器的数控机床
CN206010639U (zh) * 2016-08-29 2017-03-15 北京超同步伺服股份有限公司 用于轴类端面加工的数控机床

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CN107357258B (zh) 2021-06-08
US10114361B2 (en) 2018-10-30
JP2017204038A (ja) 2017-11-16
US20170322540A1 (en) 2017-11-09
EP3244276A3 (de) 2018-01-24
JP6814458B2 (ja) 2021-01-20
TW201740232A (zh) 2017-11-16
CN107357258A (zh) 2017-11-17

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